[paparazzi-commits] [5063] Cleanups, the can highlevel functions now accually send the data passed

[Piotr Esden-Tempski]

Revision: 5063
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5063
Author:   esden
Date:     2010-07-16 06:59:24 +0000 (Fri, 16 Jul 2010)
Log Message:
-----------
Cleanups, the can highlevel functions now accually send the data passed
to them.

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/can.c
    paparazzi3/trunk/sw/airborne/lisa/test_csc_servo.c
    paparazzi3/trunk/sw/airborne/stm32/can_hw.c
    paparazzi3/trunk/sw/airborne/stm32/can_hw.h

Modified: paparazzi3/trunk/sw/airborne/can.c
===================================================================
--- paparazzi3/trunk/sw/airborne/can.c  2010-07-16 03:41:27 UTC (rev 5062)
+++ paparazzi3/trunk/sw/airborne/can.c  2010-07-16 06:59:24 UTC (rev 5063)
@@ -32,13 +32,13 @@
        can_hw_init();
 }
 
-static inline uint16_t can_id(uint8_t client_id, uint8_t msg_id)
+static inline uint32_t can_id(uint8_t client_id, uint8_t msg_id)
 {
        return ((client_id & 0xF) << 7) | (msg_id & 0x7F);
 }
 
 int can_transmit(uint8_t client_id, uint8_t msg_id, const uint8_t *buf, 
uint8_t len)
 {
-       uint16_t id = can_id(client_id, msg_id);
+       uint32_t id = can_id(client_id, msg_id);
        return can_hw_transmit(id, buf, len);
 }

Modified: paparazzi3/trunk/sw/airborne/lisa/test_csc_servo.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/test_csc_servo.c  2010-07-16 03:41:27 UTC 
(rev 5062)
+++ paparazzi3/trunk/sw/airborne/lisa/test_csc_servo.c  2010-07-16 06:59:24 UTC 
(rev 5063)
@@ -52,8 +52,13 @@
 
 static inline void main_periodic_task( void ) {
 
-       can_transmit(1, 0, (uint8_t *)servos, 1);
+       servos[0] = 1;
+       servos[1] = 2;
+       servos[2] = 3;
+       servos[3] = 4;
 
+       can_transmit(1, 0, (uint8_t *)servos, 8);
+
        LED_TOGGLE(2);
 
        LED_PERIODIC();

Modified: paparazzi3/trunk/sw/airborne/stm32/can_hw.c
===================================================================
--- paparazzi3/trunk/sw/airborne/stm32/can_hw.c 2010-07-16 03:41:27 UTC (rev 
5062)
+++ paparazzi3/trunk/sw/airborne/stm32/can_hw.c 2010-07-16 06:59:24 UTC (rev 
5063)
@@ -112,36 +112,25 @@
        CAN_FilterInit(&can_filter);
 
        /* transmit struct init */
-       can_tx_msg.StdId = 0x321;
-       can_tx_msg.ExtId = 0x01;
+       can_tx_msg.StdId = 0x0;
+       can_tx_msg.ExtId = 0x0;
        can_tx_msg.RTR = CAN_RTR_DATA;
-       can_tx_msg.IDE = CAN_ID_STD;
+       can_tx_msg.IDE = CAN_ID_EXT;
        can_tx_msg.DLC = 1;
 
        CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
-
-       can_tx_msg.Data[0] = 0x55;
-
-       CAN_Transmit(CAN1, &can_tx_msg);
 }
 
-int can_hw_transmit(uint16_t id, const uint8_t *buf, uint8_t len)
+int can_hw_transmit(uint32_t id, const uint8_t *buf, uint8_t len)
 {
        if(len > 8){
                return -1;
        }
 
-//     can_tx_msg.StdId = id >> 8;
-//     can_tx_msg.ExtId = id & 0xFF;
-//     can_tx_msg.DLC = len;
-//     memcpy(&can_tx_msg.Data, buf, len);
-//
-//     CAN_Transmit(CAN1, &can_tx_msg);
+       can_tx_msg.ExtId = id;
+       can_tx_msg.DLC = len;
 
-       //can_tx_msg.StdId = 0;
-       //can_tx_msg.ExtId = 0x1234;
-       //can_tx_msg.DLC = 1;
-       //can_tx_msg.Data[0] = 0x55;
+       memcpy(can_tx_msg.Data, buf, len);
 
        CAN_Transmit(CAN1, &can_tx_msg);
 

Modified: paparazzi3/trunk/sw/airborne/stm32/can_hw.h
===================================================================
--- paparazzi3/trunk/sw/airborne/stm32/can_hw.h 2010-07-16 03:41:27 UTC (rev 
5062)
+++ paparazzi3/trunk/sw/airborne/stm32/can_hw.h 2010-07-16 06:59:24 UTC (rev 
5063)
@@ -26,6 +26,6 @@
 #define CAN_HW_H
 
 void can_hw_init(void);
-int can_hw_transmit(uint16_t id, const uint8_t *buf, uint8_t len);
+int can_hw_transmit(uint32_t id, const uint8_t *buf, uint8_t len);
 
 #endif /* CAN_HW_H */